WO2015016493A1

WO2015016493A1 - Omnidirectional continuous track wheel and omnidirectional moving vehicle using same

Info

Publication number: WO2015016493A1
Application number: PCT/KR2014/005888
Authority: WO
Inventors: 주재훈
Original assignee: Joo Jae Hoon
Priority date: 2013-07-29
Filing date: 2014-07-02
Publication date: 2015-02-05
Also published as: KR20150014057A

Abstract

The present invention relates to an omnidirectional moving means capable of moving in every direction including forward, backward, left and right directions. According to the present invention, in order to solve a problem in which conventional omnidirectional moving vehicles are unable to move at all or have movement limitations according to various conditions such as a state and geographical features of a road or a movement path due to the normal use of an omnidirectional moving wheel specially configured to be omnidirectionally movable, provided are an omnidirectional continuous track wheel configured to be movable irrespective of the state or condition and the geographical feature of the movement path, and an omnidirectional moving vehicle using the omnidirectional continuous track wheel.

Description

Omni-directional caterpillar wheels and omnidirectional mobile vehicles

The present invention relates to an omnidirectional moving means that can move in all directions including front, rear, left and right, and more particularly, an omnidirectional crawler wheel that can move in all directions including front, rear, left and right, and rotation, and an omnidirectional moving vehicle using the same. It is about.

That is, according to the present invention, the conventional omni-directional vehicles are generally moved according to various conditions such as the state of the road or the movement route and terrain due to the use of the omni-directional wheels specially configured to move in all directions. In order to solve the problem that was impossible or limited movement, the present invention relates to an omnidirectional caterpillar wheel and an omnidirectional moving vehicle using the same, which are configured to be movable in all weather regardless of the state, condition, and topography of the movement route.

Conventionally, the existing vehicles using general wheels are basically only forward and backward, and therefore, the vehicle must be moved while turning the vehicle body by steering and driving mechanism for turning.

In addition, the conventional general vehicles, there is a disadvantage that can not rotate or move sideways in a stationary state, due to this movement limitation, it is difficult to move quickly and freely in a narrow space, such as a parking lot, In order to drive, there is a problem that requires the driver's repeated learning so that a driver's license is required separately.

Here, in order to supplement the disadvantages of the conventional vehicle driving method as described above, the conventional, omnidirectional driving method has been proposed.

More specifically, the omni-directional driving method is to enable traveling in any direction by allowing three degrees of freedom of movement, such as forward, backward, left, right, and rotation, in movement of a vehicle or a mobile robot. There is a method of using a conventional general wheel, and a method of using an omnidirectional wheel specifically designed for omnidirectional driving.

First, as a representative mechanism for the method using a conventional general wheel, there is a method called off-centered wheel mechanism (Mechanism), which is the center of the wheel on each wheel for forward driving The steering shaft is installed at a distance, and each wheel is steered and driven to enable omnidirectional driving.

In addition, the omni-directional wheel means a wheel that can be used for omnidirectional driving with two modes, an active mode for transmitting the driving force through the rotation of the wheel and a passive mode that can rotate freely without transmitting the driving force, Wheels specially designed for this omnidirectional drive include, for example, Universal Wheel, Mecanum Wheel, Double Wheel, Alternate Wheel, Half Wheel. Wheels, Orthogonal Wheels, Ball Wheels and so on.

In addition, examples of the prior art for the conventional omni-directional device as described above, for example, having a "forward wheel as shown in Korean Patent Publication No. 10-2013-0009249 (January 23, 2013.) Mover ".

More specifically, the mobile device having the omni-directional wheel of the above-mentioned Patent Publication No. 10-2013-0009249, it is possible to move in various directions, it is possible to easily transport the object in the workplace, the space occupancy ratio is reduced Therefore, the present invention relates to a mobile device having an omnidirectional wheel for enabling object transport even in a narrow space.

To this end, according to the above-mentioned Patent Publication No. 10-2013-0009249, a plurality of outer wheels consisting of the omnidirectional wheel, each of the rotating shafts connecting the outer wheels, and disposed between the plurality of outer wheels An inner wheel composed of a direction wheel, a drive unit for driving the outer wheel and the inner wheel, a sensing unit for detecting rotation of the outer wheel or the inner wheel, a direction of movement according to the rotation detected by the sensing unit, There is provided a moving device having an omnidirectional wheel configured to include a control unit and a power supply unit for controlling a moving speed.

In addition, another example of the prior art for the conventional omni-directional movement device as described above, for example, as described in Korean Patent Publication No. 10-1996-013703 (1996.05.22.) "Forward planetary wheels" Device ".

More specifically, the omni-directional planetary wheel apparatus of the above-mentioned Patent Publication No. 10-1996-013703 is freely movable into these facilities to perform inspection and repair work in an extreme area where obstacles exist or where passageways are narrow. The present invention relates to an omnidirectional planetary wheel type mobile system that can stably climb.

To this end, according to the above-mentioned Patent Publication No. 10-1996-013703, by combining the omnidirectional wheel and the planetary wheel can move in any direction on the plain, and by the mechanism structure and water that can climb stairs or obstacles All gears of planetary wheels are located in a triangular arm frame to enable decontamination, and the joint part is waterproofed with rubber, and a mechanism structure in which power is transmitted to the five gears of the moving shaft structure for driving the omnidirectional wheels is provided. The first, second and third gears for omnidirectional wheel drive are located in the fixed part of the planetary wheel, and the harmonic reducer for driving the triangular arm is directly connected, respectively, for driving the omnidirectional wheel and the planetary wheel triangular arm. The omnidirectional planetary wheel type movement system comprising a planetary wheel triangular arm and a planetary wheel fixture attached to the motor Is provided.

Moreover, another example of the prior art for the conventional omnidirectional mobile device as described above is, for example, as described in Korean Patent No. 10-0520272 (2005.10.04.) "There is.

More specifically, the omni-directional moving toy of the Patent No. 10-0520272 described above is provided with front, rear, left and right rotations by rotating combinations of the respective wheels by mounting the omnidirectional wheels and manually driving the wheels, respectively. The present invention relates to an omnidirectional movable toy that can move in all directions.

To this end, according to Patent No. 10-0520272, the frame, at least three or more rotational shafts rotatably coupled to the lower portion of the frame, at least three or more omnidirectional wheels coupled to the rotational shaft, respectively connected to the rotary shaft At least three driving means for driving the omnidirectional wheels and a seating portion coupled to the upper portion of the frame, each wheel by applying omnidirectional wheels to both the front and rear wheels and driving the wheels separately, The front and rear, left and right, and the rotation by the drive combination of these can be moved in all directions, omni-directional movement, characterized in that configured to be able to drive and steer at the same time without a separate steering device by using the omni-directional wheels Riding toys are provided.

As described above, in the related art, various omnidirectional moving devices for enabling omnidirectional movement using omnidirectional wheels have been proposed, but the conventional omnidirectional moving devices as described above have the following problems.

That is, the conventional omni-directional wheels that are specially configured to move in all directions can increase the degree of freedom of movement as compared to the conventional general wheels, but as a result, as long as all wheels are the same, omni-directional wheels also It was to have the limitations of the existing wheels.

More specifically, for a variety of irregular terrains that are not normal roads, such as irregular terrain, steep slopes, or low friction surfaces such as mud, mountainous terrain, for example However, the conventional wheels as described above were limited in that movement was impossible or very limited.

In order to solve such a problem, for example, it may be considered to adopt a moving means capable of moving in all weather regardless of the terrain, such as an endless track, but the existing endless track, as described above Like omnidirectional wheels, free movement in all directions is impossible, but there is a disadvantage that the mobility is very low compared to general wheels.

Therefore, in order to solve the problems of the conventional moving means as described above, it is possible to provide a free movement in all directions, and at the same time to provide a new structure of the omnidirectional means configured to be able to move in all weather without restrictions according to the terrain. However, there is no device or method that satisfies all such requirements.

The present invention is to solve the problems of the prior art as described above, and the object of the present invention, therefore, the conventional omni-directional vehicles using the omni-directional wheels specially configured to be movable in the forward direction of the movement path In order to solve the problem that the movement is not possible at all or the limitation of the movement is limited according to various conditions such as the state and the terrain, the omnidirectional infinite omnidirectional is configured to move all weather regardless of the state of the movement route or the terrain condition. It is to provide a track wheel and an omnidirectional mobile vehicle using the same.

In addition, another object of the present invention is configured to enable a variety of movements in all weather regardless of the state of the movement path, terrain conditions, etc., manpower in a narrow space, such as the mountain terrain terrain or the interior of the workplace where the vehicle is not easy to move However, it is to provide an omnidirectional caterpillar wheel and an omnidirectional mobile vehicle using the same, which can be easily used for military purposes as well as for civil or industrial purposes due to easy transportation of cargo.

In addition, another object of the present invention is to solve the shortcomings of the conventional goods conveying system using a conveyor belt configured to only move the goods forward and backward, omni-directional to be configured to be freely transported in the desired direction It is to provide an article transport system using a crawler wheel.

In order to achieve the above object, according to the present invention, in the omni-directional caterpillar wheel configured to be movable in all weather regardless of the state of the movement path or terrain conditions, the main body of the caterpillar wheel Forming chains; A plurality of track portions provided on the surface of the chain to form a driving surface in contact with the ground; A plurality of rollers disposed in a traveling direction and an oblique direction for each of the track parts so as to protrude and rotate on the surface of the track part; And a plurality of connecting pins for coupling the rollers to the installation grooves formed in the track part, respectively.

In addition, according to the present invention, in the omni-directional crawler wheel configured to be movable in all weather regardless of the state of the movement path or terrain conditions, the belt forming the main body of the omnidirectional crawler wheel; A plurality of track portions provided on the surface of the belt to form a driving surface in contact with the ground; A plurality of rollers disposed in a traveling direction and an oblique direction for each of the track parts so as to protrude and rotate on the surface of the track part; And a plurality of connecting pins for coupling the rollers to the installation grooves formed in the track part, respectively.

In addition, according to the present invention, in the omni-directional crawler wheel configured to be movable in all weather regardless of the state of the movement path or terrain conditions, the chain forming the main body of the omnidirectional crawler wheel; A plurality of track portions provided on the surface of the chain to form a driving surface in contact with the ground; A plurality of rollers disposed in the travel direction and the vertical direction for each of the track portions so as to protrude and rotate on the surface of the chain; And a plurality of connecting pins for coupling the rollers to the installation grooves formed in the track part, respectively.

Further, according to the present invention, in the omni-directional crawler wheel configured to be movable in all weather regardless of the state of the movement path or terrain conditions, the belt forming the main body of the omnidirectional tracked wheel; A plurality of track portions provided on the surface of the belt to form a driving surface in contact with the ground; A plurality of rollers disposed in the traveling direction and the vertical direction for each of the track parts so as to protrude and rotate on the surface of the track part; And a plurality of connecting pins for coupling the rollers to the installation grooves formed in the track part, respectively.

In addition, according to the present invention, in the all-round endless track configured to be able to move in all weather regardless of the state of the movement path or terrain conditions, the endless track portion consisting of a pair of all-round endless tracks arranged in parallel; A drive shaft gear connected to a drive shaft for driving the crawler; A driven shaft gear disposed opposite the drive shaft gear; And at least one suspension wheel disposed between the drive shaft gear and the driven shaft gear, wherein the caterpillar portion is a pair of the caterpillar wheels using the omnidirectional caterpillar wheel according to claim 1 or 2. It is made by arranging omni-directional caterpillar wheels in parallel so that the directions of the rollers are respectively reversed, and each of the omni-directional caterpillar wheels is driven separately, so that each omnidirectional caterpillar wheel and each omnidirectional direction An omnidirectional caterpillar is provided which is configured to be freely movable in all directions by a combination of motion vectors generated by the plurality of rollers arranged in an oblique direction on the caterpillar wheel.

In addition, according to the present invention, in the all-round endless track configured to be able to move in all weather regardless of the state of the movement path or terrain conditions, the endless track portion formed by two forward endless tracks arranged in series; A drive shaft gear connected to a drive shaft for driving the crawler; A driven shaft gear disposed opposite the drive shaft gear; And at least one suspension wheel disposed between the drive shaft gear and the driven shaft gear, wherein the caterpillar portion uses the omnidirectional caterpillar wheel according to claim 1 or 2, wherein the two front wheels Direction caterpillar wheels are arranged in series so that the direction of the rollers are opposite to each other, and each of the omnidirectional caterpillar wheels is driven separately, so that each of the omnidirectional caterpillar wheels and the omnidirectional all directions An omnidirectional caterpillar is provided which is configured to be freely movable in all directions by a combination of motion vectors generated by the plurality of rollers arranged in an oblique direction on the raceway wheel.

Furthermore, according to the present invention, in order to solve the problem of the conventional moving vehicle, which has been limited or impossible to move according to the state or terrain of the movement route by using the movement wheel, regardless of the state or terrain conditions of the movement route. An omnidirectional mobile vehicle configured to be movable, comprising: a moving vehicle body; An endless track portion in which the omnidirectional caterpillar of claim 5 is disposed on the left and right sides of the body of the moving vehicle, respectively; And a driving unit embedded in the moving vehicle body to drive the crawler, wherein the driving unit separately drives each omnidirectional crawler wheel of the omnidirectional tracker constituting the crawler. In this configuration, it is possible to move freely in all directions by the combination of the motion vectors generated by the rollers disposed in the oblique direction on the respective omnidirectional crawler wheels and the omnidirectional crawler wheels. The omnidirectional mobile vehicle is provided so as to be movable in all weather regardless.

In addition, according to the present invention, in order to solve the problem of the conventional mobile vehicle that the movement is limited or impossible due to the movement path state or terrain by using the wheel, regardless of the state of the movement path or terrain conditions An omnidirectional mobile vehicle configured to be movable, comprising: a moving vehicle body; An endless track portion in which an omnidirectional caterpillar according to claim 6 is disposed on the left and right sides of the main body of the moving vehicle; And a driving unit embedded in the moving vehicle body to drive the crawler, wherein the driving unit separately drives each omnidirectional crawler wheel of the omnidirectional tracker constituting the crawler. In this configuration, it is possible to move freely in all directions by the combination of the motion vectors generated by the rollers disposed in the oblique direction on the respective omnidirectional crawler wheels and the omnidirectional crawler wheels. The omnidirectional mobile vehicle is provided so as to be movable in all weather regardless.

In addition, according to the present invention, in order to solve the problem of the conventional mobile vehicle that the movement is limited or impossible due to the movement path state or terrain by using the wheel, regardless of the state of the movement path or terrain conditions An omnidirectional mobile vehicle configured to be movable, the vehicle body having a triangular shape; An endless track portion in which the omnidirectional caterpillar wheel of claim 3 or 4 is disposed on each surface of said moving vehicle body; And a driving unit embedded in the moving vehicle body to drive the crawler, and the driving unit is configured to separately drive each omnidirectional crawler wheel constituting the crawler, respectively. It is possible to move freely in all directions by the combination of the motion vectors generated by the omnidirectional crawler wheels and the plurality of rollers provided in the omnidirectional crawler wheels, and to move in all weather regardless of the state of the ground or the terrain. An omnidirectional mobile vehicle is provided, which is configured to be possible.

Furthermore, according to the present invention, in the article conveying system configured to be able to freely convey the article in a desired direction in place of the conventional conveyor belt capable of simply moving the article forward and backward, the omni-directional according to claim 1 or 2. An article conveying unit configured by arranging a plurality of said omni-directional caterpillar wheels in parallel so that each roller provided in the adjacent omni-directional caterpillar wheels is in a direction opposite to each other using a caterpillar wheel; A drive unit configured to separately drive each of the omnidirectional track wheels constituting the article transport unit; And a support installed in each of the omni-directional caterpillar wheels to support the load of the article transport unit and to serve as a guide for preventing the deviation of each of the omni-directional caterpillar wheels. And a motion vector generated by rollers disposed in an oblique direction to each of the omnidirectional caterpillar wheels and each of the omnidirectional caterpillar wheels by driving each of the omnidirectional caterpillar wheels separately by the driving unit. Combination of is provided an article transport system, characterized in that configured to be able to freely transport the article located in the article transport in the desired direction.

Here, in the omni-directional crawler wheel, the roller is characterized in that it is configured to be installed at an angle of 45 °.

As described above, according to the present invention, by providing an omni-directional caterpillar wheel and an omnidirectional moving vehicle using the same, which is configured to be movable in all weather regardless of the state of the movement path or terrain conditions, so as to be movable in all directions By using a specially configured omni-directional wheel, it is possible to solve the problem of the conventional omni-directional vehicle in which movement is not possible at all or limited in accordance with various conditions such as the state and terrain of the movement route.

In addition, according to the present invention, by providing an omni-directional caterpillar wheel and an omni-directional moving vehicle using the same, which is configured to be able to move in all weather as described above, regardless of the state of the movement path and terrain conditions, there is a restriction according to the terrain, etc. Various movements in all directions are possible without the need to move people or cargo in narrow spaces such as mountainous terrain or inside the workplace, making it very useful not only for civilian or industrial purposes, but also for military purposes. Can be utilized.

In addition, according to the present invention, the present invention, by applying the omni-directional caterpillar wheel configured to be movable in all directions as described above to the article transport system, the article configured to be able to freely transport the article in the desired direction By providing a conveying system, it is possible to provide a very efficient article conveying system in place of the conventional conveyor belt, where only the forward and backward movement of the article was possible.

1 is a view schematically showing the overall configuration of a omni-directional traveling vehicle using the omni-directional caterpillar wheel according to the first embodiment of the present invention.

FIG. 2 is a view schematically showing a specific configuration of an omni-directional caterpillar wheel of the omni-directional traveling vehicle using the omni-directional caterpillar wheel according to the first embodiment of the present invention shown in FIG. 1.

3 is a diagram showing another configuration example of the omnidirectional track wheel shown in FIGS. 1 and 2.

4 is a view showing a specific configuration of the roller and the chain of the all-purpose crawler wheel according to the present invention.

5 is a diagram schematically showing the overall configuration of a traveling vehicle in all directions according to a second embodiment of the present invention.

6 is a view schematically showing the overall configuration of a traveling vehicle in all directions according to a third embodiment of the present invention.

FIG. 7 is a view schematically showing the configuration of the case where the crawler wheel according to the present invention is applied to an application example of the present invention.

Hereinafter, with reference to the accompanying drawings, it will be described a specific embodiment of the omni-directional caterpillar wheel and omni-directional moving vehicle using the same.

Here, it should be noted that the contents described below are only one embodiment for carrying out the present invention, and the present invention is not limited to the contents of the embodiments described below.

In addition, in the following description of the embodiments of the present invention, the same or similar to the contents of the prior art, or the part judged to be easily understood and implemented at the level of those skilled in the art, the detailed description for simplicity of explanation Note that omit.

That is, in the present invention, as described below, the conventional omni-directional vehicles using the omni-directional wheels specially configured to move in all directions are not moved according to various conditions such as the state of the movement route and terrain. In order to solve the problem that there is a limitation that is impossible or limited movement, the present invention relates to an omnidirectional caterpillar wheel and an omnidirectional moving vehicle using the same, which are configured to be movable in all weather regardless of the state of the movement path or terrain conditions.

In addition, the present invention is configured to enable a variety of movements in all weather regardless of the state of the movement route, terrain conditions, etc., so that the manpower or cargo can be The present invention relates to an omnidirectional caterpillar wheel and an omnidirectional mobile vehicle using the same, which can be easily used for military purposes as well as for civil or industrial purposes.

In addition, the present invention, by applying the omni-directional caterpillar wheel configured as described below to the article conveying system to implement the article conveying unit, instead of the conventional conveyor belt to simply move the article in the desired direction as well as the forward and backward movement of the article The present invention relates to an article conveying system configured to be freely conveyed.

Subsequently, with reference to the accompanying drawings, it will be described the specific contents of the omni-directional caterpillar wheel according to the embodiment of the present invention as described above and the omni-directional moving vehicle using the same.

First, referring to FIG. 1, FIG. 1 is a block diagram schematically illustrating an overall configuration of a omnidirectional moving vehicle using an omnidirectional crawler wheel according to a first embodiment of the present invention.

More specifically, as shown in FIG. 1, the omni-directional traveling vehicle 10 using the omni-directional caterpillar wheel according to the first embodiment of the present invention is an omni-directional caterpillar wheel configured to be freely movable in all directions. (11), the moving wheel main body 12 and the omnidirectional crawler wheels 11 are disposed on the left and right sides, respectively, and the moving wheel main body 12 is built in the driving wheels 11 It is configured to include a drive unit (not shown).

In addition, referring to FIG. 2, FIG. 2 is a detailed configuration of the omni-directional crawler wheel 11 of the omni-directional traveling vehicle 10 using the omni-directional crawler wheel according to the first embodiment of the present invention shown in FIG. 1. It is a figure which shows schematically.

That is, as shown in FIG. 2A, the above-mentioned all-purpose crawler wheel 11 includes two chains 22 including a roller 21 arranged at a center in a traveling direction and an oblique direction at the center thereof. ) Are arranged so that their directions are reversed.

In addition, the omni-directional crawler wheel 11, as shown in Figure 2b, the drive shaft gear 23 connected to the drive shaft, the driven shaft gear 24 and the suspension wheel 25 for driving the crawler wheel It is configured to further include.

Here, the omni-directional caterpillar wheel 11 may be configured in a chain form as shown in FIG. 2, but the present invention is not limited to this configuration.

More specifically, referring to FIG. 3, FIG. 3 is a diagram showing another example of the configuration of the omnidirectional crawler wheel 11 shown in FIGS. 1 and 2.

That is, as shown in FIG. 3A, the omni-directional caterpillar wheel 11 may be arranged such that the roller 21 generates a movement in a vertical direction rather than an oblique line with a traveling direction. 3B and 3C, the omni-directional caterpillar wheel 11 may be configured in various ways as necessary, such as may be composed of the omni-

directional caterpillar wheels

31, 32 using a belt form instead of a chain. It can be.

In addition, referring to Figure 4, Figure 4 is a view showing a more specific configuration of the roller 21 and the chain 22 of the all-purpose crawler wheel 11 according to the present invention as described above.

More specifically, as shown in FIG. 4, the omnidirectional crawler wheel 11 according to the present invention includes a chain 22 forming the main body of the omnidirectional crawler wheel (or as shown in FIGS. 3B and 3C). And a track portion 42 on which a driving surface in contact with the ground is formed on the surface of the same belt) and an installation groove 41 for installing the roller 21 is formed.

Therefore, according to the configuration as described above, as shown in Figs. 4A and 4B, the roller (on the surface of the track portion 42 using the connecting pin 43 in the mounting groove 41 formed in the track portion 42) 21 is provided so that it protrudes and can be rotated, and the omnidirectional track 11 as mentioned above can be comprised.

Here, in the structure shown in FIG. 4A, the above-mentioned roller 21 is preferably provided at an angle of 45 degrees, and the above-mentioned chain 22 is in the opposite direction between the adjacent rollers 21. It is installed to be.

That is, the omni-directional moving vehicle 10 according to the first embodiment of the present invention, as shown in Figs. 1 and 2, the two chains 22 are arranged so that the direction of the roller 21 is opposite each other. The four chains 22 which are provided on the left and right sides of the moving vehicle main body 12, respectively, are driven separately by the driving motor of the driving unit, respectively, thereby forming the four endless tracks 11. It is possible to move freely in all directions by the combination of the motion vectors generated by the chains 22 and the rollers 21 arranged in the diagonal direction on each chain 22, and at all weather conditions regardless of the state of the ground or the terrain. It is characterized in that it is configured to be movable.

5, FIG. 5 is a diagram schematically showing the overall configuration of the omni-directional moving vehicle 50 according to the second embodiment of the present invention.

Here, in the description of other embodiments of the present invention described below, the same or similar contents as those in the above-described first embodiment will be omitted for simplicity of explanation, and only the other contents will be described.

More specifically, the moving vehicle 10 of the first embodiment shown in FIG. 1 has a configuration in which the omnidirectional crawler wheels 11, which are constituted by one pair of two rows as shown in FIG. 2, are provided on the left and right sides, respectively. As shown in Fig. 5, the omni-directional moving vehicle 50 according to the second embodiment of the present invention is characterized by arranging two sets of endless tracks of the first embodiment in series.

Therefore, the omnidirectional mobile vehicle 50 according to the second embodiment of the present invention, like the omnidirectional mobile vehicle 10 of the first embodiment described above, drives a total of four caterpillar wheels separately, thereby providing four The combination of the motion vectors generated by the chain and the rollers arranged in the oblique direction on each chain allows free movement in all directions and movement in all weather regardless of ground conditions or terrain.

6, FIG. 6 schematically shows the overall configuration of the omni-directional moving vehicle 60 according to the third embodiment of the present invention.

More specifically, the omnidirectional moving vehicle 60 according to the third embodiment of the present invention is arranged to generate the movement in the vertical direction and the vertical direction as shown in FIG. 3A as shown in FIG. 6. It is comprised by the caterpillar wheel formed by arrange | positioning the chain 62 containing the roller 61 in triangular form.

That is, in the above-described first and second embodiments, the crawler wheels 12 each consisting of four chains 22 including the rollers 21 arranged in the traveling direction and the diagonal direction are driven separately, respectively. Although it is a structure which produces | generates a directional motion, the omnidirectional moving vehicle 60 of the 3rd Example shown in FIG. 6 has a total of three chains including the roller 61 arrange | positioned so that the movement of a direction perpendicular to a traveling direction ( 62, the track wheel is configured, the configuration can be further simplified.

Here, in the above first to third embodiments, the present invention has been described by taking the case in which the caterpillar wheels have a chain form as an example, but the present invention is not limited to the configuration of the above embodiments, that is, It should be noted that the present invention may be configured in various ways as needed, such as may be configured using a belt-type caterpillar instead of the above-described chain.

Therefore, according to the omni-directional moving vehicle of the present invention configured as described above, even if the ground bending is bad or bad condition, it is possible to distribute the upper load to a large area and to transmit a stable driving force to the ground, You can increase the degree of freedom of movement by taking advantage of the direction wheel.

In addition, according to the omnidirectional moving vehicle of the present invention configured as described above, for example, in the case of using the omnidirectional moving wheel, such as weak ground, sand, snow roads, even if the driving force transmission difficult conditions, infinite Maintain the excellent athletic performance of the track.

Moreover, by applying the omni-directional caterpillar wheel according to the present invention as described above, when the caterpillar wheel according to the present invention is applied to the conveyor system, not only the plane movement can be controlled in two degrees of freedom, There is an advantage that can maintain a continuous friction.

More specifically, referring to FIG. 7, FIG. 7 is a diagram schematically illustrating a configuration in a case where the crawler wheel according to the present invention is applied to a conveyor system as an application example of the present invention.

That is, as shown in FIG. 7A, in place of the conventional conveyor belt, the article conveying part 71 of the article conveying system by arranging a plurality of all-purpose crawler wheels according to the present invention as shown in FIG. 2 in parallel. By implementing the, it is possible to implement an article transport system that can freely transport the article in the desired direction, including the front and rear, left and right, as well as the front and rear movement of the article, just like a conventional conveyor belt.

Here, as shown in FIG. 7B, inside each of the crawler wheels constituting the article transporter 71, a support for supporting the load of the upper track wheels and serving as a guide for preventing deviation of the track ( 72 may be installed respectively.

Therefore, as described above, it is possible to implement the omni-directional caterpillar wheel and the omni-directional moving vehicle using the same.

In addition, by implementing the omni-directional caterpillar wheel according to the present invention and the omni-directional moving vehicle using the same as described above, according to the present invention, it is possible to move in all weather regardless of the state of the movement route or terrain conditions. By providing the omni-directional caterpillar wheel and the omni-directional moving vehicle using the same, the omnidirectional wheels are specially configured to move in all directions. It is possible to solve the problem of the conventional omni-directional vehicle, which is not possible at all or has a limitation in which the movement is limited.

In addition, according to the present invention, by providing an omni-directional caterpillar wheel and an omnidirectional moving vehicle using the same, which is configured to be movable in all weather as described above, regardless of the state of the movement path and terrain conditions, there is a restriction according to the terrain, etc. Various movements in all directions are possible without the need to move people or cargo in narrow spaces such as mountainous terrain or inside the workplace, making it very useful not only for civilian or industrial purposes, but also for military purposes. Can be utilized.

Furthermore, according to the present invention, by arranging a plurality of omnidirectional caterpillar wheels constituted as described above in parallel, the article conveying unit of the article conveying system is implemented to replace the conventional conveyor belt, thereby simply moving the article forward and backward. In addition, it is possible to freely transport the goods in the desired direction can implement a very efficient goods transport system.

As described above, the details of the omnidirectional caterpillar wheel and omnidirectional mobile vehicle using the same have been described through the embodiments of the present invention as described above, but the present invention is limited only to the contents described in the above embodiments. Therefore, it is a matter of course that the present invention can be variously modified, changed, combined and replaced by those skilled in the art according to the design needs and various other factors. would.

[Description of the code]

10. Omni-directional moving vehicle 11. Omni-directional tracked wheel

12. Moving Vehicle Body 21. Roller

22. Chain 23. Drive shaft gear

24. Drive shaft gear 25. Suspension wheel

31. Omni-directional caterpillar 32. Omni-directional caterpillar wheel

41. Installation groove 42. Track section

43. Connecting pins 50. Vehicles in all directions

60. Forwarding Vehicle 61. Roller

62. Chain 71. Goods transport

72. Support

Claims

In the all-purpose crawler wheel configured to be able to move in all weather regardless of the state of the movement path or terrain conditions,

A chain forming a main body of the omnidirectional crawler wheel;

A plurality of track portions provided on the surface of the chain to form a driving surface in contact with the ground;

A plurality of rollers disposed in a traveling direction and an oblique direction for each of the track parts so as to protrude and rotate on the surface of the track part; And

And a plurality of connecting pins for respectively coupling the rollers to the installation grooves formed in the track part.
In the all-purpose crawler wheel configured to be able to move in all weather regardless of the state of the movement path or terrain conditions,

A belt forming a main body of the omnidirectional crawler wheel;

A plurality of track portions provided on the surface of the belt to form a driving surface in contact with the ground;

A plurality of rollers disposed in a traveling direction and an oblique direction for each of the track parts so as to protrude and rotate on the surface of the track part; And

And a plurality of connecting pins for respectively coupling the rollers to the installation grooves formed in the track part.
In the all-purpose crawler wheel configured to be able to move in all weather regardless of the state of the movement path or terrain conditions,

A chain forming a main body of the omnidirectional crawler wheel;

A plurality of track portions provided on the surface of the chain to form a driving surface in contact with the ground;

A plurality of rollers disposed in the travel direction and the vertical direction for each of the track portions so as to protrude and rotate on the surface of the chain; And

And a plurality of connecting pins for respectively coupling the rollers to the installation grooves formed in the track part.
In the all-purpose crawler wheel configured to be able to move in all weather regardless of the state of the movement path or terrain conditions,

A belt forming a main body of the omnidirectional crawler wheel;

A plurality of track portions provided on the surface of the belt to form a driving surface in contact with the ground;

A plurality of rollers disposed in the traveling direction and the vertical direction for each of the track parts so as to protrude and rotate on the surface of the track part; And

And a plurality of connecting pins for respectively coupling the rollers to the installation grooves formed in the track part.
In the all-round endless track configured to be able to move in all weather regardless of the state of the movement path or terrain conditions,

An endless track portion comprising a pair of omnidirectional caterpillar wheels arranged in parallel;

A drive shaft gear connected to a drive shaft for driving the crawler;

A driven shaft gear disposed opposite the drive shaft gear; And

And at least one suspension wheel disposed between the drive shaft gear and the driven shaft gear,

The crawler portion,

By using the omni-directional caterpillar wheel according to claim 1 or 2, the pair of omni-directional caterpillar wheels are arranged in parallel so that the directions of the rollers are reversed, respectively.

A combination of motion vectors generated by each of the forward crawler wheels and the plurality of rollers disposed in an oblique direction on each of the forward crawler wheels by driving each of the forward crawler wheels separately. The omnidirectional caterpillar, characterized in that configured to be freely movable in all directions by.
In the all-round endless track configured to be able to move in all weather regardless of the state of the movement path or terrain conditions,

An endless track portion comprising two omnidirectional crawler wheels arranged in series;

A drive shaft gear connected to a drive shaft for driving the crawler;

A driven shaft gear disposed opposite the drive shaft gear; And

It comprises at least one suspension wheel disposed between the drive shaft gear and the driven shaft gear,

The crawler portion,

By using the omni-directional caterpillar wheel according to claim 1 or 2, it is made by arranging the two omni-directional caterpillar wheels in series so that the direction of the rollers are respectively reversed,

A combination of motion vectors generated by each of the forward crawler wheels and the plurality of rollers disposed in an oblique direction on each of the forward crawler wheels by driving each of the forward crawler wheels separately. The omnidirectional caterpillar, characterized in that configured to be freely movable in all directions by.
In order to solve the problem of the conventional mobile vehicle in which the movement is limited or impossible due to the movement path state or the terrain by using the movement wheel, the omnidirectional direction is configured to be movable regardless of the movement path state or the terrain condition. In a mobile vehicle,

A moving vehicle body;

An endless track portion in which the omnidirectional caterpillar of claim 5 is disposed on the left and right sides of the body of the moving vehicle, respectively; And

It is configured to include a drive unit embedded in the moving vehicle body for driving the crawler portion,

The driving unit,

By separately driving each omnidirectional crawler wheel of the omnidirectional caterpillar constituting the crawler,

It is freely movable in all directions by the combination of the motion vectors generated by the rollers disposed in the oblique direction on each of the omnidirectional caterpillar wheels and the omnidirectional caterpillar wheels, and independent of the state of the ground or the terrain. The omni-directional moving vehicle, characterized in that configured to be movable in all weather.
In order to solve the problem of the conventional mobile vehicle in which the movement is limited or impossible due to the movement path state or terrain by using the movement wheel, the omnidirectional direction configured to be movable regardless of the movement path state or terrain condition In a mobile vehicle,

A moving vehicle body;

An endless track portion in which an omnidirectional caterpillar according to claim 6 is disposed on the left and right sides of the main body of the moving vehicle; And

It is configured to include a drive unit embedded in the moving vehicle body for driving the crawler portion,

The driving unit,

By separately driving each omnidirectional crawler wheel of the omnidirectional caterpillar constituting the crawler,

It is freely movable in all directions by the combination of the motion vectors generated by the rollers disposed in the oblique direction on each of the omnidirectional caterpillar wheels and the omnidirectional caterpillar wheels, and independent of the state of the ground or the terrain. The omni-directional moving vehicle, characterized in that configured to be movable in all weather.
In order to solve the problem of the conventional mobile vehicle in which the movement is limited or impossible due to the movement path state or the terrain by using the movement wheel, the omnidirectional direction is configured to be movable regardless of the movement path state or the terrain condition. In a mobile vehicle,

A moving vehicle body formed in a triangle shape;

An endless track portion in which the omnidirectional caterpillar wheel of claim 3 or 4 is disposed on each surface of said moving vehicle body; And

It is configured to include a drive unit embedded in the moving vehicle body for driving the crawler portion,

The driving unit,

A motion generated by a plurality of rollers provided in each of the omnidirectional caterpillar wheels and each of the omnidirectional caterpillar wheels by being configured to drive each of the omnidirectional caterpillar wheels constituting the caterpillar unit separately. A forward moving vehicle, which can be moved freely in all directions by a combination of vectors and can move in all weather regardless of the state of the ground or the terrain.
An article transport system configured to freely transport an article in a desired direction in place of a conventional conveyor belt capable of simply moving the article forward and backward,

By using the omnidirectional caterpillar wheel of claim 1 or 2, the plurality of omnidirectional caterpillar wheels are arranged in parallel so that the respective rollers provided in the adjacent omnidirectional caterpillar wheels are opposite to each other. An article transfer unit constituted by;

A drive unit configured to separately drive each of the omnidirectional track wheels constituting the article transport unit; And

In order to support the load of the article transport portion and to serve as a guide for preventing the departure of each of the all-round crawler wheel, including a support installed on the inside of each of the all-round crawler wheel,

By driving each said omnidirectional crawler wheel separately by said drive part, the motion vector produced | generated by the roller arrange | positioned diagonally to each said omnidirectional tracked wheel and each said omnidirectional tracked wheel Combination system characterized in that it is configured to be freely transported in the desired direction the article located in the article conveying unit by a combination.
The method according to claim 1 or 2,

The roller is an all-purpose crawler wheel, characterized in that configured to be installed at an angle of 45 °.